Javier Minguez

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This paper addresses the reactive collision avoidance for vehicles that move in very dense, cluttered, and complex scenarios. First, we describe the design of a reactive navigation method that uses a "divide and conquer" strategy based on situations to simplify the difficulty of the navigation. Many techniques could be used to implement this design (since(More)
This paper describes a new noninvasive brain-actuated wheelchair that relies on a P300 neurophysiological protocol and automated navigation. When in operation, the user faces a screen displaying a real-time virtual reconstruction of the scenario and concentrates on the location of the space to reach. A visual stimulation process elicits the neurological(More)
This paper addresses reactive collision avoidance for robots that move in arduous environments (i.e., very dense, complex and cluttered). To achieve this goal, the technique simplifies the difficulty of the navigation by a divide and conquer strategy, which is based on identifying navigational situations and applying the corresponding motion laws. The state(More)
This paper addresses the scan matching problem for mobile robot displacement estimation. The contribution is a new metric distance and all the tools necessary to be used within the iterative closest point framework. The metric distance is defined in the configuration space of the sensor, and takes into account both translation and rotation error of the(More)
This paper presents a probabilistic scan matching algorithm to estimate the robot planar displacement by matching dense two-dimensional range scans. The general framework follows an iterative process of two steps: (i) computation of correspondences between scans, and (ii) estimation of the relative displacement. The contribution is a probabilistic modelling(More)
This paper presents a metric-based matching algorithm to estimate the robot planar displacement by matching dense two-dimensional range scans. The contribution is a geometric distance that takes into account the translation and orientation of the sensor at the same time. This result is used in the two steps of the matching - estimation process. The(More)
ing Vehicle Shape and Kinematic Constraints from Obstacle Avoidance Methods Javier Minguez a Luis Montano a José Santos-Victor b aInstituto de Investigación en Ingenieŕıa de Aragón, Departamento de Informática e Ingenieŕıa de Sistemas, Universidad de Zaragoza, Spain {jminguez,montano}@unizar.es bInstituto Superior Técnico, Instituto de Sistemas e Robótica(More)
OBJECTIVE A major difficulty of brain-computer interface (BCI) technology is dealing with the noise of EEG and its signal variations. Previous works studied time-dependent non-stationarities for BCIs in which the user's mental task was independent of the device operation (e.g., the mental task was motor imagery and the operational task was a speller).(More)
This paper presents a new real-time collision avoidance approach for mobile robots. The Nearness Diagram method (ND) performs a high level information extraction and interpr etation of the envir onment. Subsequently, this information is used to gener ate the motion commands. The proposed approach is well-suited to deal with unknown, unstructur edand dynamic(More)
Several works have reported on the reconstruction of 2D/3D limb kinematics from low-frequency EEG signals using linear regression models based on positive correlation values between the recorded and the reconstructed trajectories. This paper describes the mathematical properties of the linear model and the correlation evaluation metric that may lead to a(More)